【摘要】：智能機器人技術(shù)隨著機器人學(xué)、計算機科學(xué)、計算機視覺等學(xué)科的發(fā)展,應(yīng)用范圍和實用價值得到了更廣泛的關(guān)注和提高,成為當今世界高科技領(lǐng)域備受關(guān)注的熱點課題。近年來對于科普展品開發(fā),更加重視科學(xué)性、趣味性、可參與性,隨著智能機器人逐漸走進人類的日常生產(chǎn)和生活,解魔方機器人成為了科普研究的熱點。但由于解魔方機器人融合了計算機視覺、藍牙通訊、機器人技術(shù)、圖像處理、虛擬現(xiàn)實交互、魔方算法等多學(xué)科知識,要實現(xiàn)一個快速、穩(wěn)定的魔方機器人復(fù)原系統(tǒng)具有很大的難度。因此,開展魔方機器人復(fù)原展示系統(tǒng)的研究具有很強的現(xiàn)實意義和應(yīng)用價值。 對本文系統(tǒng)進行功能需求以及、穩(wěn)定性、實時性應(yīng)用性能需求分析,研究并設(shè)計了解魔方機器人系統(tǒng)的體系機構(gòu)。第一,為保證系統(tǒng)在不同光照條件下對魔方狀態(tài)進行精確識別,研究了基于計算機視覺建立HSV樣本顏色空間庫的算法,降低了漏檢率減少了誤分割,提高了系統(tǒng)運行的實時性和穩(wěn)定性。第二,研究了機器人解魔方的特點及性能,對CFOP、角先法、TM算法進行分析改進,通過實驗對比,改進TM算法步驟少、平穩(wěn)性好,適用于本文系統(tǒng),提高了機器人解魔方的性能。第三,針對系統(tǒng)特點及性能需求,對LEGO魔方機器人進行系統(tǒng)體系結(jié)構(gòu)的改進,并設(shè)計運動控制系統(tǒng),有效的提高了機器人運行的效率。第四,為了提高魔方機器人系統(tǒng)的交互性能和科學(xué)展示性能,研究了虛擬現(xiàn)實交互技術(shù)并設(shè)計了適用于本文系統(tǒng)的三維虛擬魔方系統(tǒng),增加了系統(tǒng)趣味性和知識性。第五,針對本文系統(tǒng)多平臺結(jié)合運行的特點,在研究基于LEGO的藍牙無線通訊和基于UDP的網(wǎng)絡(luò)通訊等多種通信方式基礎(chǔ),將各個平臺的子系統(tǒng)有機的結(jié)合為整體,提高系統(tǒng)的整體性能。 通過上述系統(tǒng)設(shè)計和關(guān)鍵技術(shù)的研究,本文實現(xiàn)了“機器人解魔方展示系統(tǒng)”。實驗結(jié)果及在科技館臨時展覽效果證明,本系統(tǒng)能夠適應(yīng)不同的工作環(huán)境并能穩(wěn)定可靠的運行,本文提出的若干關(guān)鍵技術(shù)的解決方案較為有效,系統(tǒng)具有穩(wěn)定性和智能性。
[Abstract]:With the development of robotics, computer science, computer vision and so on, intelligent robot technology has been paid more attention to and improved in application scope and practical value. It has become a hot topic in the field of high-tech in the world today. In recent years, more attention has been paid to science, interest and participation in the development of popular science exhibits. With the intelligent robot gradually entering the daily production and life of human beings, the robot of solving Rubik's Cube has become a hot spot in the research of science popularization. However, due to the fusion of computer vision, Bluetooth communication, robot technology, image processing, virtual reality interaction, Rubik's cube algorithm and other multi-disciplinary knowledge, it is necessary to achieve a rapid solution. The restoration system of the stable Rubik Cube robot is very difficult. Therefore, the research on the restoration and display system of Rubik Cube robot has strong practical significance and application value. The functional requirements, stability and real-time application performance requirements of the system are analyzed, and the system mechanism of understanding the Rubik Cube robot system is studied and designed. Firstly, in order to ensure that the system can accurately identify the state of Rubik's Cube under different illumination conditions, the algorithm of establishing color space database of HSV samples based on computer vision is studied, which reduces the false detection rate and reduces the false segmentation. The real-time performance and stability of the system are improved. Secondly, the characteristics and performance of the robot's solution to magic cube are studied, and the CFOP, method and the TM algorithm are analyzed and improved. Through the comparison of the experiments, the TM algorithm is improved with few steps and good stationarity, which is suitable for the system in this paper. It improves the performance of the robot to solve the Rubik Cube. Thirdly, according to the characteristics and performance requirements of the system, the system architecture of LEGO Rubik Cube robot is improved, and the motion control system is designed, which effectively improves the running efficiency of the robot. Fourth, in order to improve the interactive performance and scientific display performance of the Rubik Cube robot system, the virtual reality interaction technology is studied and a three-dimensional virtual Rubik cube system suitable for this system is designed, which increases the interest and knowledge of the system. Fifthly, in view of the characteristics of the multi-platform operation of this system, we study the Bluetooth wireless communication based on LEGO and the network communication based on UDP, and combine the subsystems of each platform as a whole. Improve the overall performance of the system. Through the above-mentioned system design and the research of the key technology, this paper has realized the "robot solution cube display system". The experimental results and the temporary exhibition results in the Science and Technology Museum show that the system can adapt to different working conditions and can run stably and reliably. The solutions of some key technologies proposed in this paper are more effective and the system has stability and intelligence.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TP242

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